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Dependencies:   mbed FreeRTOS

Gyro.h

Committer:
takeru0x1103
Date:
2018-11-28
Revision:
16:05b9e44889f1
Parent:
14:76a56d517103
Child:
17:f9610f3cfa1b

File content as of revision 16:05b9e44889f1:

#ifndef GYRO_H
#define GYRO_H

#include <iostream>
#include <vector>
#include <string>
#include <sstream>
using namespace std;
#include "mbed.h"
#include "typedef.h"

class Gyro {
    /*
     * Varialbles
     */
     
#define BAUD_RATE4_6AXIS   115200
    private:

    Serial sp46Axis;
    float   accZ;
    INT16   gyroZ;
    float   yaw;
    float   yaw_ref;
    /*
     * functions
     */
    std::vector<std::string> split(const std::string &str, char sep);
    void PushBuf(UCHAR rxChar);
    void uartRxIntHndler46Axis();
public:
    Gyro(PinName pinTx, PinName pinRx);
    virtual ~Gyro();
    short     GetAngularRate();
    float   GetAccel();
    float   GetAngle();
    void    SetYawRef();
    
};

#endif /* GYRO_H */